// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
//
// Permission is hereby granted, free of charge, to any person obtaining a
// copy of this software and associated documentation files (the "Software"),
// to deal in the Software without restriction, including without limitation
// the rights to use, copy, modify, merge, publish, distribute, sublicense,
// and/or sell copies of the Software, and to permit persons to whom the
// Software is furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
// DEALINGS IN THE SOFTWARE.

#pragma once

#include "qt/drawables/drawable.h"
#include "utils/cloud.h"

class DrawableCloud : public Drawable {
 public:
  using Ptr = std::shared_ptr<DrawableCloud>;
  using Cloud = depth_clustering::Cloud;

  explicit DrawableCloud(const Cloud::ConstPtr& cloud,
                         const Eigen::Vector3f& color = Eigen::Vector3f::Ones())
      : _cloud_ptr{cloud}, _color{color} {}

  void Draw() const override;

  static DrawableCloud::Ptr FromCloud(
      const Cloud::ConstPtr& cloud,
      const Eigen::Vector3f& color = Eigen::Vector3f::Ones());

  ~DrawableCloud() override {}

 private:
  Cloud::ConstPtr _cloud_ptr = nullptr;
  Eigen::Vector3f _color = Eigen::Vector3f::Ones();
};

